CN116611329A - Four-dimensional estimation method for total ionosphere electron content based on depth operator network - Google Patents
Four-dimensional estimation method for total ionosphere electron content based on depth operator network Download PDFInfo
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Abstract
The invention discloses a four-dimensional estimation method of total ionosphere electron content based on a depth operator network. It comprises the following steps: determining an inversion STEC region and available receiver site distribution; extracting historical STEC observation data corresponding to the selected receiver-satellite; constructing a historical STEC simulation data set; dividing the historical observation data and the simulation data set into a training set and a verification set; constructing a deep-TEC model, and training to obtain an optimal estimation model; determining ray information corresponding to STEC to be estimated; and obtaining a corresponding estimated value STEC by using the optimal estimated model. According to the invention, a unified ionosphere four-dimensional estimation framework is constructed, actual measurement data, simulation data and a basis function containing physical information are fused, and STEC estimation values are provided according to a selection mode. The four-dimensional estimation framework can estimate STEC on any ray in a given area, and has popularization and application prospects.
Description
Technical Field
The invention belongs to the technical field of navigation, and particularly relates to a four-dimensional estimation method of total ionosphere electron content based on a depth operator network.
Background
Ionosphere refers generally to the part of the atmosphere 60km-1000km from the earth's surface, which is an important component of the earth's space. The ionosphere has a large number of neutral components and ions which move freely due to the influence of external factors such as solar radiation, geomagnetic activity and the like, and has complex and changeable properties. The electromagnetic wave can generate group delay, faraday rotation and other effects when propagating in the ionized layer, and has great influence on the fields of long-distance communication, high-precision positioning and the like. For example, in practical application, the positioning error caused by the ionosphere is 2-10m in the vertical direction and even exceeds 100m in the oblique direction. Meanwhile, the problem that the number of unknown quantities is larger than the number of equations exists in a precise single point positioning (Precise Point Positioning, PPP) algorithm, which is an underdetermined problem, is solved by adopting a least square method or a Kalman filtering algorithm. Although the method is adopted and the existing products such as precise orbit and clock error are utilized, the ionosphere is difficult to estimate due to the complex nature of the ionosphere, so that the PPP algorithm has slower convergence of solving errors and lower precision. For a user, the positioning algorithm needs to achieve fast convergence time and high positioning accuracy. To achieve the above two points simultaneously, the unknown number of equations needs to be reduced, and a relatively accurate ionospheric product is required. However, most of the existing accurate products have time delay, so that space-time estimation is needed for ionosphere correction.
Most of existing ionosphere correction estimation products are formed by establishing an area or global ionosphere VTEC model from the total electron concentration content VTEC (Vertical Total Electron Content, VTEC) in the vertical direction to obtain a VTEC diagram, and the main method is as follows: polynomial fitting, spherical harmonic fitting, neural network interpolation, and the like. However, the above methods all operate based on VTEC data, since the ionosphere is not strictly compliant with the single-layer thin-shell assumption, there is a loss of accuracy in switching from total diagonal electron content (SlantTotal Electron Content, STEC) to VTEC, from VTEC to STEC. STEC refers to the integration of electron density over the site and satellite links. Therefore, directly interpolating the STEC, directly calculating the STEC at the user will greatly improve the positioning accuracy of the user. Meanwhile, most of the existing methods stay in space dimension interpolation, and the existing methods are required to be expanded by using methods such as a neural network and the like when the prediction is realized in time. The lack of a unified framework realizes the estimation of STEC in four dimensions, namely, the STEC of any rays in the current space at the current and future time is estimated by using a past STEC observation value construction model.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide a four-dimensional estimation method of the total ionosphere electron content based on a depth operator network, which constructs a unified ionosphere four-dimensional estimation framework, fuses actual measurement data, simulation data and a basis function containing physical information, can obtain STEC estimated values on any ray in a given space at future time in a unified manner, and has popularization and application prospects.
The technical scheme of the invention is specifically introduced as follows.
A four-dimensional estimation method of ionosphere electron total content based on a depth operator network is a method combining navigation signals, a statistical model and machine learning, and is divided into two parts: an off-line step and an on-line step;
the off-line steps include:
(1) Determining the area of inversion STEC and the receiver site distribution utilized;
(2) Extracting historical STEC observation data corresponding to the selected receiver-satellite by using a positioning algorithm;
(3) Constructing a historical STEC simulation data set by using the ionosphere physical model and the experience model;
(4) Dividing historical STEC observation data and historical STEC simulation data sets into training sets and verification sets;
(5) Constructing a deep-TEC model, and training and evaluating the deep-TEC model by using a training set and a verification set to obtain an optimal estimation model;
the online steps comprise:
(6) Constructing user data, namely determining ray information corresponding to STEC to be estimated;
(7) Obtaining a corresponding STEC estimated value by using the optimal estimation model; wherein:
in the step (5), the step of constructing the deep-TEC model is as follows:
(1) constructing a weight function for describing a relationship between two vectors
f 1 (x i ,x j )＝||x i -x j || 2
Wherein x is i The code value obtained by the sine and cosine change of the coordinates of the satellite and the station in the ECEF coordinate system corresponding to the ith ray and time is represented, 8-dimensional data is obtained in total, and x is represented by j And (5) representing the coordinates of the satellite and the station corresponding to the j ray in the ECEF coordinate system and the coded values obtained by sine and cosine transformation of time. f (f) 1 Represents x i And x j The square of the distance between them is an intermediate function. Sigma and tau represent hyper-parameters of the model function, with subscripts labeled as corresponding function names. f (f) out Representing the final weight function; the method comprises the steps of carrying out a first treatment on the surface of the
(2) Constructing a mapping function for obtaining STEC preliminary to-be-estimated value
u(X i )＝f out (X i ,X)(f out (X,X)+λI) -1 S
Wherein u is a constructed mapping function, S represents STEC observation values corresponding to a known ray set X, lambda represents regularized super parameters, I represents an identity matrix, and X i Representing a ray set corresponding to the STEC to be estimated;
(3) using the formula on the historical STEC observation data and the historical STEC simulation data setObtaining different mapping functions u 1 (·)，u 2 (. Cndot.) (cndot.)) wherein (. Cndot.)) represents any input;
(4) obtaining m uniformly distributed rays x in a given space by utilizing a Sobol quasi-random sampling mode 1 ,…,x m ]Wherein x is m Path information indicating an mth ray;
(5) by u 1 (·)，u 2 (. Cndot.) obtaining preliminary estimates [ u ] 1 (x 1 ),…,u 1 (x m )]、[u 2 (x 1 ),…,u 2 (x m )]；
(6) Based on the STEC data of the simulation data, extracting a basis function f from the data by utilizing the POD of the intrinsic orthogonal decomposition base1 (·)；
(7) Selecting core functions in an ionosphere physical model and an experience model to construct a basis function f base2 (. Cndot.) and building a physical network learning f base2 Superparameter in (-);
(8) constructing a noise estimation network to estimate noise f in pseudo-range on ray paths noise (·)；
(9) Constructing a deep-TEC model framework, and constructing an estimated function G (u 1 ,u 2 )(x)：
Enabling it to provide a realistic STEC estimate, where θ is the super parameter of the deep-TEC model.
In the step (1), the selected stations are distributed as uniformly as possible in the selected area according to the given area.
In the step (2), the historical STEC observation data corresponding to the selected receiver-satellite is extracted by adopting a precise single point positioning algorithm PPP, and the extracted STEC data is taken as a unit of TECU.
In the step (3), the historical TEC simulation dataset is constructed by using the ionosphere physical model and the empirical model to make up for the sparsity of the observed data, so that the interpolation property can be ensured to be satisfied when the estimated values of the TEC on m rays are obtained.
In the step (4), the historical observation data and the simulation data set are divided into a training set and a verification set. The division is performed in an 8:2 manner, but is not limited to this division ratio.
In the step (5), a deep-TEC model is constructed, in which a branch network and a main network, a physical network, and a noise estimation network are constructed using a fully connected network. But is not limited to fully connected networks.
Compared with the prior art, the invention has the beneficial effects that:
the invention provides a unified framework for realizing STEC four-dimensional estimation, which utilizes the STEC observation values in the past to construct a model, and can give high-precision STEC estimation values on any rays of the current and future time of day for inputting the initial coordinates (the coordinates of satellites and stations in an ECEF coordinate system, xyz) and the time of day.
Compared with the prior art, the method fully utilizes the information of the simulation data and the physical model and the universal approximation capability of the network to the functions, and the constructed model can effectively approximate the functions of STEC real distribution in the space, so that rays in the current space and the future space can be estimated. The simulation data and the physical information ensure the distribution of the model solution space, can effectively solve the problem of uneven ray distribution in the measured data, and simultaneously ensure certain physical rules of solution space service. In addition, the estimation of the noise network and the constraint of an observation equation can improve the tolerance of the model to noise.
Drawings
Fig. 1: the invention discloses a four-dimensional estimation method of ionosphere electron total content based on a depth operator network.
Fig. 2: the deep-TEC model of the invention is schematically shown.
Fig. 3: the method provided by the invention is used for simulating STEC prediction results in the regions of Yunnan and North America in China.
Detailed Description
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The present embodiment is implemented on the premise of the technical scheme of the present invention, and a detailed implementation manner and a specific operation process are provided, but the protection scope of the present invention is not limited to the following embodiments.
Simulation data constructed by using the Nequick2 empirical model in the embodiment. Because the site and satellite coordinates which are distributed in the same way as the actual site and satellite coordinates are adopted in the construction process, the simulation data can show the actual partial characteristics.
FIG. 1 is a flowchart of the algorithm of the present invention, divided into two parts: offline and online. Wherein the off-line steps are as follows:
(1) Determining the area of inversion STEC and the available receiver site distribution;
(2) Extracting historical STEC observation data corresponding to the selected receiver-satellite by using a positioning algorithm;
(3) Constructing a historical STEC simulation data set by using the ionosphere physical model and the experience model;
(4) Dividing the historical observation data and the simulation data set into a training set and a verification set;
(5) And constructing a deep-TEC model, and training and evaluating the model by using the training set and the verification set to obtain an optimal estimation model.
The online steps are as follows:
(6) Constructing user data, namely determining ray information (satellite coordinates, receiver coordinates and time) corresponding to the STEC to be estimated;
(7) And obtaining a corresponding estimated value STEC by using the optimal estimated model.
And (2) extracting historical STEC observation data corresponding to the selected receiver-satellite by using a positioning algorithm. Namely, calculating STEC of peripheral stations and user stations by adopting a precise single-point positioning algorithm and combining products such as precise tracks, clock errors and the like, wherein the calculation is shown in formulas (1) - (4):
wherein: the superscript Q represents the current system, s represents the s-th satellite in the Q navigation system; subscript r denotes the r receiver and j denotes the current frequency band; wherein P represents the pseudorange observations; representing the observed quantity of the carrier wave; ρ represents the geometric distance of the satellite and the receiver; c represents the speed of light; dt represents the clock difference; ZWD represents zenith troposphere delay, mw represents a scaling factor that turns the flow into diagonal; gamma represents the frequency scale factor of the ionospheric delay amount, I represents the ionospheric delay amount, d represents the pseudorange hardware delay, b represents the carrier phase hardware delay; n represents carrier phase ambiguity; λ represents a carrier phase wavelength; ε, ζ represent pseudorange and carrier phase other errors, respectively; DCB represents the inter-code bias.
The step (3) is to construct a historical STEC simulation data set by using an ionosphere physical model and an empirical model, and the method is as follows:
(1) determining satellite coordinates of a current time from a precise ephemeris
(2) The STEC value is determined according to the receiver site and satellite coordinates by using an empirical model such as Nequick2/IRI 2016.
The step (4) divides the historical observation data and the simulation data into a training set and a verification set, and the specific contents are as follows:
(1) the method comprises the steps that 7-dimensional input characteristic data are formed by a receiver site, satellite coordinates and time in historical TEC observation data, STEC observation data are used as labels, and a data set A is formed;
(2) the receiver site, satellite coordinates and time in the historical TEC simulation data are formed into 7-dimensional input characteristic data, STEC simulation data are used as labels, and a data set B is formed;
(3) the time in the data set A, B is subjected to sine and cosine coding, and the receiver station and satellite coordinates are subjected to standard normalization processing;
(4) data set a was randomly scrambled and 80% of it was used for training and 20% for validation, named: a is that train ,A validation . Wherein data set a is used for training the model in addition to the mapping function u, and data set B is used for constructing the mapping function u only.
And (5) constructing a deep-TEC model, and training and evaluating the model by using a training set and a verification set to obtain an optimal estimation model. Wherein the steps of constructing the deep-TEC model (figure 2) are as follows:
(1) constructing a weight function for describing a relationship between two vectors
f 1 (x i ,x j )＝||x i -x j || 2 (5)
Wherein x is i And sine and cosine codes representing the coordinates of the satellite and the station corresponding to the ith ray in ECEF coordinates and time, 8-dimensional data in total, sigma and tau respectively represent super parameters of model functions and are distinguished by using different subscripts, and f out Representing the final weight function.
(2) Constructing a mapping function for obtaining STEC preliminary to-be-estimated value
u(X i )＝f out (X i ,X)(f out (X,X)+λI) -1 S (7)
Where u is a constructed mapping function, S represents the STEC observation corresponding to the known ray set X, λ represents a regularized hyper-parameter, and I represents an identity matrix. X is X i Representing the corresponding ray set of the STEC to be estimated.
(3) Obtaining different mapping functions u on data sets A and B using a formula 1 (·)，u 2 (. Cndot.) wherein (-) represents any input.
(4) Quasi-random sampling mode by SobolObtaining m uniformly distributed rays [ x ] in a given space 1 ,…,x m ]Wherein x is m Path information representing the mth ray.
(5) By u 1 (·)，u 2 (. Cndot.) obtaining preliminary estimates [ u ] 1 (x 1 ),…,u 1 (x m )]、[u 2 (x 1 ),…,u 2 (x m )]。
(6) And extracting a basis function in the simulation data. Based on simulation data STEC data provided by Nequick2/IRI2016 and other empirical models, extracting a basis function f in the data by utilizing intrinsic orthogonal decomposition (Proper orthogonal decomposition, POD) base1 (·)。
(7) Selecting core functions in an experience model and a physical model, and constructing a base function f base2 (. Cndot.) and building a physical network for learning f base2 Superparameter in (-).
(8) A noise estimation module is constructed. The neural network is built, not only is the neural network limited to a fully-connected network, but also the noise f in the pseudo range on the ray path is estimated noise (·)。
(9) And constructing a deep-TEC model framework. The functions G and f are approximated by constructing a neural network, thereby constructing an estimated function G (u 1 ,u 2 )(x)
Enabling it to provide a true STEC estimate. Wherein θ is the super parameter of the deep-TEC model
And constructing a deep-TEC loss function. The deep-TEC loss function consists of two parts, one part is constrained by using a TEC label, and the other part is constrained by using an observation equation.
loss＝loss1+λ·loss2 (10)
Wherein p (x) i ) Representing rays x i Pseudo-range observations on s i Representing rays x i On STEC observations, λ is the hyper-parameter.
The deep-TEC model training steps are as follows:
(1) optimizing the loss function on the data set A_t by adopting an Adam optimizer to obtain a model 1
(2) The performance of model 1 is evaluated on dataset A_v, and if the performance of model 1 on datasets atlain and avaiding are similar and loss is below a certain threshold, current model 1 is considered to be the best estimation model to be constructed.
In the step (6), user data is constructed, that is, ray information corresponding to the STEC to be estimated is determined, and the specific steps are as follows:
(1) obtaining a preliminary position of a user using standard single point positioning (Standard Point Positioning)
(2) Obtaining the position of a current satellite from a precise ephemeris
(3) The coordinates of the user and the satellite, and the time are processed in the manner of step 5.
And (7) obtaining a corresponding STEC estimated value by using the optimal estimation model. Obtaining STEC estimated value in user data by using the optimal estimated model obtained in the step (6)
Wherein θ is an optimal parameter obtained by training.
The specific implementation of the invention is illustrated by the following examples:
step 1: the area of inversion STEC and the available receiver site distribution are determined. The adopted land-state website point distribution in the Yunnan area of China and the part of the websites of the North America continuous operation reference station are adopted in the example.
Step 2: and extracting historical STEC observation data corresponding to the selected receiver-satellite by using a positioning algorithm. Downloading products such as navigation observation and the like, and extracting STEC observation values of 2021, 1 month, 1 day and 2021, 1 month and 5 days by adopting a positioning algorithm.
Step 3: and constructing a historical STEC simulation data set by using the ionosphere physical model and the experience model. And constructing STEC simulation values of 2021, 1 month, 1 year, 2021, 5 days by using the actual site coordinates, satellite coordinates and time and adopting a Nequick2 model.
Step 4: the historical observation data and the simulation data set are divided into a training set and a verification set.
Step 5: and constructing a deep-TEC model, and training and evaluating the model by using the training set and the verification set to obtain an optimal estimation model.
Step 6: and constructing user data, namely determining ray information corresponding to the STEC to be estimated. I.e. by determining the coordinates of the station, the coordinates of the satellites, and the moment to be estimated. The satellite coordinates of day 2021, month 1 and day 5 were determined using the precise ephemeris.
Step 7: the optimal estimation model is used to obtain the corresponding estimation value STEC, as shown in fig. 3. As can be seen from FIG. 3, the four-dimensional model constructed is excellent in local areas of Yunnan and North America in China, the root mean square error is 1.4624TECU and 0.4936TECU, and the correlation coefficient R 2 Reaching 0.9900 and 0.9946 respectively. Because the constructed model is trained only by using data of the past 4 days, and the test station site never appears in the training set, the result can show the spatial interpolation and the time prediction capability of the constructed four-dimensional model, and STEC estimation can be carried out on the given rays in the current space.
Claims (7)
1. A four-dimensional estimation method of ionosphere electron total content based on a depth operator network is characterized by comprising a method combining navigation signals, a statistical model and machine learning, and is divided into two parts: an off-line step and an on-line step;
the off-line steps include:
(1) Determining the area of inversion STEC and the receiver site distribution utilized;
(2) Extracting historical STEC observation data corresponding to the selected receiver-satellite by using a positioning algorithm;
(3) Constructing a historical STEC simulation data set by using the ionosphere physical model and the experience model;
(4) Dividing historical STEC observation data and historical STEC simulation data sets into training sets and verification sets;
(5) Constructing a deep-TEC model, and training and evaluating the deep-TEC model by using a training set and a verification set to obtain an optimal estimation model;
the online steps comprise:
(6) Constructing user data, namely determining ray information corresponding to STEC to be estimated;
(7) Obtaining a corresponding STEC estimated value by using the optimal estimation model; wherein:
in the step (5), the step of constructing the deep-TEC model is as follows:
(1) constructing a weight function for describing a relationship between two vectors
f 1 (x i ,x j )＝||x i -x j || 2
Wherein x is i The code value obtained by the sine and cosine change of the coordinates of the satellite and the station in the ECEF coordinate system corresponding to the ith ray and time is represented, 8-dimensional data is obtained in total, and x is represented by j Representing code values obtained by sine and cosine transformation of coordinates of satellite and station corresponding to jth ray in ECEF coordinate system and time, f 1 Represents x i And x j The square of the distance between the two is an intermediate function, sigma and tau represent the super parameters of the model function, the lower angles of the super parameters are marked as corresponding function names, f out Representing the final weight function;
(2) constructing a mapping function for obtaining STEC preliminary to-be-estimated value
u(X i )＝f out (X i ,X)(f out (X,X)+λI) -1 S
Wherein u is the constructS represents STEC observation value corresponding to known ray set X, lambda represents regularized super parameter, I represents identity matrix, X i Representing a ray set corresponding to the STEC to be estimated;
(3) obtaining different mapping functions u on the historical STEC observation data and the historical STEC simulation data set by using a formula 1 (·)，u 2 (. Cndot.) (cndot.)) wherein (. Cndot.)) represents any input;
(4) obtaining m uniformly distributed rays x in a given space by utilizing a Sobol quasi-random sampling mode 1 ,…,x m ]Wherein x is m Path information indicating an mth ray;
(5) by u 1 (·)，u 2 (. Cndot.) obtaining preliminary estimates [ u ] 1 (x 1 ),…,u 1 (x m )]、[u 2 (x 1 ),…,u 2 (x m )]；
(6) Based on the STEC data of the simulation data, extracting a basis function f from the data by utilizing the POD of the intrinsic orthogonal decomposition base1 (·)；
(7) Selecting core functions in an ionosphere physical model and an experience model to construct a basis function f base2 (. Cndot.) and building a physical network learning f base2 Superparameter in (-);
(8) constructing a noise estimation network to estimate noise f in pseudo-range on ray paths noise (·)；
(9) Constructing a deep-TEC model framework, and constructing an estimated function G (u 1 ,u 2 )(x)：
Enabling it to provide a realistic STEC estimate, where θ is the super parameter of the deep-TEC model.
2. The four-dimensional estimation method of the ionosphere electron total content based on the depth operator network according to claim 1, wherein in the step (2), a precise single point positioning algorithm is adopted to extract historical STEC observation data corresponding to a selected receiver-satellite in combination with a precise orbit and a clock difference, and STEC of peripheral sites and subscriber stations is calculated.
3. The four-dimensional estimation method of total ionospheric electron content based on depth operator network according to claim 1, wherein step (3) constructs a historical STEC simulation dataset by using an ionospheric physical model and an empirical model, specifically as follows:
(1) determining satellite coordinates of the current moment from the precise ephemeris;
(2) STEC values are determined from receiver sites and satellite coordinates using a NeQuick2 or IRI2016 empirical model.
4. The four-dimensional estimation method of ionosphere electron total content based on depth operator network according to claim 1, wherein step (4) divides the historical observation data and the simulation data into training sets and verification sets, specifically comprising the following steps:
(1) the method comprises the steps that 7-dimensional input characteristic data are formed by a receiver site, satellite coordinates and time in historical TEC observation data, STEC observation data are used as labels, and a data set A is formed;
(2) the receiver site, satellite coordinates and time in the historical TEC simulation data are formed into 7-dimensional input characteristic data, STEC simulation data are used as labels, and a data set B is formed;
(3) the time in the data set A, B is subjected to sine and cosine coding, and the receiver station and satellite coordinates are subjected to standard normalization processing;
(4) data set a was randomly scrambled and 80% of it was used for training and 20% for validation.
5. The four-dimensional estimation method of ionospheric electron total content based on depth operator network according to claim 1, wherein in step (5), the loss function of deep-TEC model is composed of two parts, one part is constrained by TEC labels, and the other part is constrained by observation equations:
loss＝loss1+λ·loss2
wherein p (x) i ) Representing rays x i Pseudo-range observations on s i Representing rays x i On STEC observations, λ is the hyper-parameter.
6. The four-dimensional estimation method of total ionospheric electron content based on depth operator network according to claim 1, wherein in step (5), adam optimizer is used in deep-TEC model training.
7. The four-dimensional estimation method of total ionospheric electron content based on depth operator network according to claim 1, wherein in step (6), the radiation information corresponding to the STEC to be estimated includes satellite coordinates, receiver coordinates and time.
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